Example ABB RAPID program files for the generic vision interface

Version: 1.3.0

This repository demonstrates how to use the Generic Vision Interface with wenglor vision devices on an ABB controller. The included .modx and .pgf files form a working sample program Generic wenglor vision interface.pgf that you can adapt and customize for your application.

NOTE

This repository focuses exclusively on ABB Robots-specific topics. For general robot vision information, please refer to the wenglor robot vision manual.

📖 Full documentation is available in the online manual

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Table of Contents

• Prerequisites
• Files
• Installation
• Running the Sample Program
• Troubleshooting
• Support & Feedback

NOTE

The generic robot vision API (commands, return values, error codes), the calibration guidelines, and the uniVision job setup are documented once in the wenglor robot vision manual and are not repeated here. This repository only describes how the ABB example uses them.

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Prerequisites

Tested with OmniCore controller and RobotWare 7.5.13 (minimum required: RobotWare 7.3.2)

• Basic knowledge of RAPID
• OmniCore controller (RobotWare 7.3.2+) or IRC5 controller (RobotWare 5.15+) — for IRC5, rename .modx files to .mod, update references in the .pgf file, and activate the PC Interface option
• RapidSockets enabled in the controller communication configuration (RobotStudio → Communication → Firewall Manager)
• B60 or Machine Vision Controller (MVC)
• A uniVision 3 job for calibration and object detection, with the robot manufacturer set to ABB on the device website (Tab Jobs → Robot Server)

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Files

The sources directory of this repository contains:

File	Contents
Generic wenglor vision interface.pgf	Program file that references the modules below.
wenglorUserConfig.modx	User configuration (IP, port, poses, jobs, use case). See User Configuration.
wenglorGlobal.modx	Core and helper functions (socket communication, conversions).
wenglorCalibration.modx	Hand-eye calibration and verification.
wenglorDetect.modx	Object detection and movement to detected objects.

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Installation

1. Get the files from the sources directory and copy them to the robot controller (e.g. /HOME or /HOME/<project_folder>).
2. Follow the user configuration steps.

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Running the Sample Program

1. Load the program Generic wenglor vision interface on your robot.
2. Select the TCP used for calibration in the FlexPendant.
3. Execute the program and monitor the messages on the FlexPendant display.

For details on the program flow (calibration, single/multi detection, reference frame updates), see Robot Program.

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Troubleshooting

See the Troubleshooting page for insufficient calibration accuracy, height offsets in detected poses, communication errors, device error codes, and unexpected program exits.

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Support & Feedback

• Bugs: Please open a new Issue in the GitHub Issues section if needed.
• Feature Requests & Ideas: Discuss suggestions in the Discussions → Ideas category under GitHub Discussions.
• Product page: www.wenglor.com/product/DNNF023 — uniVision 3 software, device firmware, and operating instructions. The RAPID example files themselves are in this repository's sources directory.